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The field of robot soccer is a useful setting for the study of artificial intelligence and machine learning. By considering the learning processes used in multi-agent systems, such as cooperative action learning with multiple agents, optimization of strategies for new opponents, robust handling of noise and other disturbances, and real-time learning during live gameplay, it is possible to grasp real-world problems in a fairly abstract way. For this reason, there has recently been active research and exchange of information concerning a robot soccer game contest called RoboCup. Meanwhile, in simulations using robots, it is necessary to tackle noise and to address the issues involved in processing the signals obtained from multiple sensors, and it is not always possible to evaluate and analyze this information effectively. When focusing on game strategy learning, it is often effective to perform a priori evaluation and analysis by computer simulation. In this section we introduce an idea for autonomous adaptive evolution with respect to the strategies of opponents in games, and we present the results of evaluating this idea. Specifically, we start by introducing a hybrid system configuration of classifier systems and algorithmic strategies. Then, with the aim of implementing real-time learning in mid-game, we introduce a bucket brigade algorithm which is a reinforcement learning method for classifiers, and a technique for restricting the subject of learning depending on the frequency of events. And finally, by considering the differing roles assigned to forwards, midfielders and defenders, we introduce a technique for performing learning by applying differences to the reward values given during reinforcement learning. We pitted this technique against soccer game strategies based on hand-coded algorithms, and as the results show, our proposed technique is effective in terms of increased win rate and the speed of convergence on this win rate.

Event-driven Hybrid Classifier Systems and Online Learning for Soccer Game Strategies